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<p>&#x8BE5;&#x6811;&#x662F;MissionCommandTree&#x7C7B;&#xFF1A; <a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MissionCommandTree.cc" target="_blank">MissionCommandTree.cc</a>, <a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MissionCommandTree.h" target="_blank">MissionCommandTree.h</a></p>
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<p>&#x60A8;&#x53EF;&#x4EE5;&#x5728;&#x8FD9;&#x91CC;&#x770B;&#x5230;<code>MAV_CMD_NAV_WAYPOINT</code>&#x6839;&#x76EE;&#x5F55;<a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MavCmdInfoCommon.json#L27" target="_blank">json</a>&#x7684;&#x793A;&#x4F8B;&#xFF1A;</p>
<pre><code>        {
            &quot;id&quot;:                   16,
            &quot;rawName&quot;:              &quot;MAV_CMD_NAV_WAYPOINT&quot;,
            &quot;friendlyName&quot;:         &quot;Waypoint&quot;,
            &quot;description&quot;:          &quot;Travel to a position in 3D space.&quot;,
            &quot;specifiesCoordinate&quot;:  true,
            &quot;friendlyEdit&quot;:         true,
            &quot;category&quot;:             &quot;Basic&quot;,
            &quot;param1&quot;: {
                &quot;label&quot;:            &quot;Hold&quot;,
                &quot;units&quot;:            &quot;secs&quot;,
                &quot;default&quot;:          0,
                &quot;decimalPlaces&quot;:    0
            },
            &quot;param2&quot;: {
                &quot;label&quot;:            &quot;Acceptance&quot;,
                &quot;units&quot;:            &quot;m&quot;,
                &quot;default&quot;:          3,
                &quot;decimalPlaces&quot;:    2
            },
            &quot;param3&quot;: {
                &quot;label&quot;:            &quot;PassThru&quot;,
                &quot;units&quot;:            &quot;m&quot;,
                &quot;default&quot;:          0,
                &quot;decimalPlaces&quot;:    2
            },
            &quot;param4&quot;: {
                &quot;label&quot;:            &quot;Yaw&quot;,
                &quot;units&quot;:            &quot;deg&quot;,
                &quot;nanUnchanged&quot;:     true,
                &quot;default&quot;:          null,
                &quot;decimalPlaces&quot;:    2
            }
        },
</code></pre><p>&#x6CE8;&#x610F;&#xFF1A;&#x5728;&#x73B0;&#x5B9E;&#x4E2D;&#xFF0C;&#x57FA;&#x4E8E;&#x6B64;&#x7684;&#x4FE1;&#x606F;&#x5E94;&#x7531; mavlink &#x672C;&#x8EAB;&#x63D0;&#x4F9B;&#xFF0C;&#x800C;&#x4E0D;&#x9700;&#x8981;&#x6210;&#x4E3A; GCS &#x7684;&#x4E00;&#x90E8;&#x5206;&#x3002;</p>
<h3 id="&#x53F6;&#x8282;&#x70B9;"><a name="&#x53F6;&#x8282;&#x70B9;" class="plugin-anchor" href="#&#x53F6;&#x8282;&#x70B9;"><i class="fa fa-link" aria-hidden="true"></i></a>&#x53F6;&#x8282;&#x70B9;</h3>
<p>&#x7136;&#x540E;&#xFF0C;&#x53F6;&#x8282;&#x70B9;&#x63D0;&#x4F9B;&#x5143;&#x6570;&#x636E;&#xFF0C;&#x8FD9;&#x4E9B;&#x5143;&#x6570;&#x636E;&#x53EF;&#x4EE5;&#x8986;&#x76D6;&#x547D;&#x4EE4;&#x7684;&#x503C;&#x548C;/&#x6216;&#x4ECE;&#x663E;&#x793A;&#x7ED9;&#x7528;&#x6237;&#x7684;&#x53C2;&#x6570;&#x4E2D;&#x5220;&#x9664;&#x53C2;&#x6570;&#x3002; &#x5B8C;&#x6574;&#x7684;&#x6811;&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x662F;&#x8FD9;&#x6837;&#x7684;&#xFF1A;</p>
<ul>
<li>&#x6839;&#xFF0D;&#x901A;&#x7528;Mavlink<ul>
<li>&#x7279;&#x5B9A;&#x7684;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x8F66;&#x8F86;&#x7684;&#x901A;&#x7528;&#x89C4;&#x8303;</li>
<li>&#x7279;&#x5B9A;&#x7684;&#x786C;&#x4EF6;&#x7C7B;&#x578B;&#xFF0D;&#x6BCF;&#x4E2A;&#x56FA;&#x4EF6;&#x7C7B;&#x578B;&#x6709;&#x4E00;&#x4E2A;&#x53EF;&#x9009;&#x7684;&#x53F6;&#x8282;&#x70B9;&#xFF08;PX4/ArduPilot&#xFF09;<ul>
<li>&#x7279;&#x5B9A;&#x7684;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#xFF0D;&#x6BCF;&#x4E2A;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x6709;&#x4E00;&#x4E2A;&#x53EF;&#x9009;&#x7684;&#x53F6;&#x8282;&#x70B9;&#xFF08;FW/MR/VTOL/Rover/Sub&#xFF09;</li>
</ul>
</li>
</ul>
</li>
</ul>
<p>&#x6CE8;&#x610F;&#xFF1A;&#x5B9E;&#x9645;&#x4E0A;&#xFF0C;&#x6B64;&#x66FF;&#x4EE3;&#x529F;&#x80FD;&#x5E94;&#x8BE5;&#x662F;mavlink&#x89C4;&#x683C;&#x7684;&#x4E00;&#x90E8;&#x5206;&#xFF0C;&#x5E76;&#x4E14;&#x5E94;&#x8BE5;&#x53EF;&#x4EE5;&#x4ECE;&#x8F66;&#x8F86;&#x4E2D;&#x67E5;&#x8BE2;&#x3002;</p>
<h3 id="&#x4ECE;&#x5B8C;&#x6574;&#x6811;&#x4E2D;&#x6784;&#x5EFA;&#x5B9E;&#x4F8B;&#x6811;"><a name="&#x4ECE;&#x5B8C;&#x6574;&#x6811;&#x4E2D;&#x6784;&#x5EFA;&#x5B9E;&#x4F8B;&#x6811;" class="plugin-anchor" href="#&#x4ECE;&#x5B8C;&#x6574;&#x6811;&#x4E2D;&#x6784;&#x5EFA;&#x5B9E;&#x4F8B;&#x6811;"><i class="fa fa-link" aria-hidden="true"></i></a>&#x4ECE;&#x5B8C;&#x6574;&#x6811;&#x4E2D;&#x6784;&#x5EFA;&#x5B9E;&#x4F8B;&#x6811;</h3>
<p>&#x7531;&#x4E8E; json &#x5143;&#x6570;&#x636E;&#x63D0;&#x4F9B;&#x4E86;&#x6240;&#x6709;&#x56FA;&#x4EF6;&#xFF0F;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7EC4;&#x5408;&#x7684;&#x4FE1;&#x606F;&#xFF0C;&#x56E0;&#x6B64;&#x5FC5;&#x987B;&#x6839;&#x636E;&#x7528;&#x4E8E;&#x521B;&#x5EFA;&#x8BA1;&#x5212;&#x7684;&#x56FA;&#x4EF6;&#x548C;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x6765;&#x6784;&#x5EFA;&#x8981;&#x4F7F;&#x7528;&#x7684;&#x5B9E;&#x9645;&#x6811;&#x3002; &#x8FD9;&#x662F;&#x901A;&#x8FC7;&#x4E00;&#x4E2A;&#x8FDB;&#x7A0B;&#x8C03;&#x7528;&#x201C;collapsing&#x201D;&#x7684;&#x5B8C;&#x6574;&#x6811;&#x5230;&#x4E00;&#x4E2A;&#x56FA;&#x4EF6;&#xFF0F;&#x8F66;&#x8F86;&#x7684;&#x7279;&#x5B9A;&#x6811;&#x6765;&#x5B8C;&#x6210;&#x7684; (<a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MissionCommandTree.cc#L119" target="_blank">code</a>)&#x3002;</p>
<p>&#x6B65;&#x9AA4;&#x5982;&#x4E0B;&#xFF1A;</p>
<ul>
<li>&#x5728;&#x5B9E;&#x4F8B;&#x6811;&#x79CD;&#x6DFB;&#x52A0;&#x6839;</li>
<li>&#x5C06;&#x7279;&#x5B9A;&#x7684;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x91CD;&#x5199;&#x5B9E;&#x4F8B;&#x6811;</li>
<li>Apply the firmware type specific overrides to the instance tree</li>
<li>&#x5C06;&#x7279;&#x5B9A;&#x7684;&#x786C;&#x4EF6;&#xFF0F;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x91CD;&#x5199;&#x5B9E;&#x4F8B;&#x6811;</li>
</ul>
<p>&#x7136;&#x540E;&#xFF0C;&#x751F;&#x6210;&#x7684;&#x4EFB;&#x52A1;&#x547D;&#x4EE4;&#x6811;&#x5C06;&#x4E3A;&#x5E73;&#x9762;&#x9879;&#x76EE;&#x7F16;&#x8F91;&#x5668;&#x6784;&#x5EFA;UI&#x3002; &#x5B9E;&#x9645;&#x4E0A;&#xFF0C;&#x5B83;&#x4E0D;&#x4EC5;&#x7528;&#x4E8E;&#x6B64;&#xFF0C;&#x8FD8;&#x6709;&#x8BB8;&#x591A;&#x5176;&#x4ED6;&#x5730;&#x65B9;&#x53EF;&#x4EE5;&#x5E2E;&#x52A9;&#x60A8;&#x4E86;&#x89E3;&#x6709;&#x5173;&#x7279;&#x5B9A;&#x547D;&#x4EE4; id &#x7684;&#x66F4;&#x591A;&#x4FE1;&#x606F;&#x3002;</p>
<h2 id="&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x793A;&#x4F8B;-mavcmdnavwaypoint"><a name="&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x793A;&#x4F8B;-mavcmdnavwaypoint" class="plugin-anchor" href="#&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x793A;&#x4F8B;-mavcmdnavwaypoint"><i class="fa fa-link" aria-hidden="true"></i></a>&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x793A;&#x4F8B; <code>MAV_CMD_NAV_WAYPOINT</code></h2>
<p>&#x8BA9;&#x6211;&#x4EEC;&#x6765;&#x770B;&#x770B;<code>MAV_CMD_NAV_WAYPOINT</code>&#x7684;&#x793A;&#x4F8B;&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x3002; &#x6839;&#x4FE1;&#x606F;&#x5982;&#x4E0A;&#x56FE;&#x6240;&#x793A;&#x3002;</p>
<h3 id="&#x6839;&#xFF0D;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x7279;&#x5B9A;&#x53F6;&#x8282;&#x70B9;"><a name="&#x6839;&#xFF0D;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x7279;&#x5B9A;&#x53F6;&#x8282;&#x70B9;" class="plugin-anchor" href="#&#x6839;&#xFF0D;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x7279;&#x5B9A;&#x53F6;&#x8282;&#x70B9;"><i class="fa fa-link" aria-hidden="true"></i></a>&#x6839;&#xFF0D;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x7279;&#x5B9A;&#x53F6;&#x8282;&#x70B9;</h3>
<p>&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x7684;&#x4E0B;&#x4E00;&#x4E2A;&#x5C42;&#x7EA7;&#x662F;&#x901A;&#x7528;&#x7684; mavlink&#xFF0C;&#x4F46;&#x53EA;&#x9488;&#x5BF9;&#x7279;&#x5B9A;&#x7684;&#x8F66;&#x8F86;&#x3002; &#x8FD9;&#x91CC;&#x7684;Json&#x6587;&#x4EF6;&#xFF1A;<a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MavCmdInfoMultiRotor.json" target="_blank">MR</a>, <a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MavCmdInfoFixedWing.json" target="_blank">FW</a>, <a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MavCmdInfoRover.json" target="_blank">ROVER</a>, <a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MavCmdInfoSub.json" target="_blank">Sub</a>, <a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MavCmdInfoVTOL.json" target="_blank">VTOL</a>&#x3002; &#x8FD9;&#x4E2A;&#x662F;&#x91CD;&#x5199;&#xFF08;&#x56FA;&#x5B9A;&#x7FFC;&#xFF09;&#x3000;</p>
<pre><code>        {
            &quot;id&quot;:           16,
            &quot;comment&quot;:      &quot;MAV_CMD_NAV_WAYPOINT&quot;,
            &quot;paramRemove&quot;:  &quot;4&quot;
        },
</code></pre><p>&#x8FD9;&#x6837;&#x505A;&#x662F;&#x5220;&#x9664;&#x53C2;&#x6570;4&#x7684;&#x7F16;&#x8F91; UI&#xFF0C;&#x56FA;&#x5B9A;&#x7FFC;&#x6CA1;&#x6709;&#x4F7F;&#x7528;&#x822A;&#x5411;&#xFF08;Yaw&#xFF09;&#x53C2;&#x6570;&#x3002; &#x7531;&#x4E8E;&#x8FD9;&#x662F;&#x6839;&#x7684;&#x53F6;&#x8282;&#x70B9;&#xFF0C;&#x56E0;&#x6B64;&#x65E0;&#x8BBA;&#x56FA;&#x4EF6;&#x7C7B;&#x578B;&#x5982;&#x4F55;&#xFF0C;&#x8FD9;&#x90FD;&#x9002;&#x7528;&#x4E8E;&#x6240;&#x6709;&#x56FA;&#x5B9A;&#x7FFC;&#x8F66;&#x8F86;&#x3002;</p>
<h3 id="&#x6839;&#xFF0D;&#x786C;&#x4EF6;&#x7C7B;&#x578B;&#x7684;&#x7279;&#x5B9A;&#x53F6;&#x8282;&#x70B9;"><a name="&#x6839;&#xFF0D;&#x786C;&#x4EF6;&#x7C7B;&#x578B;&#x7684;&#x7279;&#x5B9A;&#x53F6;&#x8282;&#x70B9;" class="plugin-anchor" href="#&#x6839;&#xFF0D;&#x786C;&#x4EF6;&#x7C7B;&#x578B;&#x7684;&#x7279;&#x5B9A;&#x53F6;&#x8282;&#x70B9;"><i class="fa fa-link" aria-hidden="true"></i></a>&#x6839;&#xFF0D;&#x786C;&#x4EF6;&#x7C7B;&#x578B;&#x7684;&#x7279;&#x5B9A;&#x53F6;&#x8282;&#x70B9;</h3>
<p>&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x7684;&#x4E0B;&#x4E00;&#x5C42;&#x7EA7;&#x662F;&#x7279;&#x5B9A;&#x4E8E;&#x56FA;&#x4EF6;&#x7C7B;&#x578B;&#x4F46;&#x9002;&#x7528;&#x4E8E;&#x6240;&#x6709;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x66FF;&#x4EE3;&#x3002;  &#x518D;&#x6B21;&#x8BA9;&#x6211;&#x4EEC;&#x770B;&#x770B;&#x822A;&#x70B9;&#xFF08;Waypoint&#xFF09;&#x8986;&#x76D6;&#xFF1A;</p>
<p><a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/FirmwarePlugin/APM/MavCmdInfoCommon.json#L6" target="_blank">ArduPilot</a>&#xFF1A;</p>
<pre><code>        {
            &quot;id&quot;:           16,
            &quot;comment&quot;:      &quot;MAV_CMD_NAV_WAYPOINT&quot;,
            &quot;paramRemove&quot;:  &quot;2&quot;
        },
</code></pre><p><a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/FirmwarePlugin/PX4/MavCmdInfoCommon.json#L7" target="_blank">PX4</a>&#xFF1A;</p>
<pre><code>        {
            &quot;id&quot;:           16,
            &quot;comment&quot;:      &quot;MAV_CMD_NAV_WAYPOINT&quot;,
            &quot;paramRemove&quot;:  &quot;2,3&quot;
        },
</code></pre><p>&#x60A8;&#x53EF;&#x4EE5;&#x770B;&#x5230;&#xFF0C;&#x5BF9;&#x4E8E;&#x4E24;&#x4E2A;&#x56FA;&#x4EF6;&#x53C2;&#x6570;&#x53C2;&#x6570;2&#xFF0C;&#x5373;&#x63A5;&#x53D7;&#x534A;&#x5F84;&#xFF0C;&#x4ECE;&#x7F16;&#x8F91; ui &#x4E2D;&#x5220;&#x9664;&#x3002; &#x8FD9;&#x662F;QGC&#x7684;&#x7279;&#x6027;&#x51B3;&#x5B9A;&#x3002; &#x4E0E;&#x6307;&#x5B9A;&#x503C;&#x76F8;&#x6BD4;&#xFF0C;&#x4F7F;&#x7528;&#x56FA;&#x4EF6;&#x901A;&#x7528;&#x63A5;&#x53D7;&#x534A;&#x5F84;&#x4F1A;&#x66F4;&#x52A0;&#x5B89;&#x5168;&#x548C;&#x5BB9;&#x6613;&#x3002; &#x56E0;&#x6B64;&#xFF0C;&#x6211;&#x4EEC;&#x51B3;&#x5B9A;&#x5BF9;&#x7528;&#x6237;&#x9690;&#x85CF;&#x5B83;&#x3002;</p>
<p>&#x60A8;&#x8FD8;&#x53EF;&#x4EE5;&#x770B;&#x5230;&#xFF0C;&#x5BF9;&#x4E8E; PX4 param3/PassThru&#xFF0C;&#x7531;&#x4E8E; PX &#x4E0D;&#x652F;&#x6301;&#x5B83;&#xFF0C;&#x56E0;&#x6B64;&#x5DF2;&#x88AB;&#x5220;&#x9664;&#x3002;</p>
<h3 id="&#x6839;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x56FA;&#x4EF6;&#x7684;&#x7C7B;&#x578B;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x53F6;&#x5B50;&#x8282;&#x70B9;"><a name="&#x6839;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x56FA;&#x4EF6;&#x7684;&#x7C7B;&#x578B;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x53F6;&#x5B50;&#x8282;&#x70B9;" class="plugin-anchor" href="#&#x6839;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x56FA;&#x4EF6;&#x7684;&#x7C7B;&#x578B;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x53F6;&#x5B50;&#x8282;&#x70B9;"><i class="fa fa-link" aria-hidden="true"></i></a>&#x6839;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x56FA;&#x4EF6;&#x7684;&#x7C7B;&#x578B;&#xFF0D;&#x7279;&#x5B9A;&#x4E8E;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x7684;&#x53F6;&#x5B50;&#x8282;&#x70B9;</h3>
<p>&#x5C42;&#x6B21;&#x7ED3;&#x6784;&#x7684;&#x6700;&#x540E;&#x4E00;&#x4E2A;&#x7EA7;&#x522B;&#x65E2;&#x9488;&#x5BF9;&#x56FA;&#x4EF6;&#x53C8;&#x9488;&#x5BF9;&#x8F66;&#x8F86;&#x7C7B;&#x578B;&#x3002;</p>
<p><a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/FirmwarePlugin/APM/MavCmdInfoMultiRotor.json#L7" target="_blank">ArduPilot/MR</a>:</p>
<pre><code>        {
            &quot;id&quot;:           16,
            &quot;comment&quot;:      &quot;MAV_CMD_NAV_WAYPOINT&quot;,
            &quot;paramRemove&quot;:  &quot;2,3,4&quot;
        },
</code></pre><p>&#x5728;&#x8FD9;&#x91CC;&#x4F60;&#x53EF;&#x4EE5;&#x770B;&#x5230;&#xFF0C;ArduPilot&#x7684;&#x591A;&#x7535;&#x673A;&#x8F66;&#x8F86;&#x53C2;&#x6570;2/3/4 Acceptance/PassThru/Yaw &#x5DF2;&#x88AB;&#x79FB;&#x9664;&#x3002; &#x4F8B;&#x5982;&#xFF0C;&#x822A;&#x5411;&#xFF08;Yaw&#xFF09;&#x662F;&#x56E0;&#x4E3A;&#x4E0D;&#x652F;&#x6301;&#x6240;&#x4EE5;&#x88AB;&#x79FB;&#x9664;&#x3002; &#x7531;&#x4E8E;&#x6B64;&#x4EE3;&#x7801;&#x7684;&#x5DE5;&#x4F5C;&#x539F;&#x7406;&#x7684;&#x602A;&#x7656;&#xFF0C;&#x60A8;&#x9700;&#x8981;&#x4ECE;&#x8F83;&#x4F4E;&#x7EA7;&#x522B;&#x91CD;&#x590D;&#x91CD;&#x5199;&#x3002;</p>
<h2 id="&#x4EFB;&#x52A1;&#x547D;&#x4EE4;-ui-&#x4FE1;&#x606F;"><a name="&#x4EFB;&#x52A1;&#x547D;&#x4EE4;-ui-&#x4FE1;&#x606F;" class="plugin-anchor" href="#&#x4EFB;&#x52A1;&#x547D;&#x4EE4;-ui-&#x4FE1;&#x606F;"><i class="fa fa-link" aria-hidden="true"></i></a>&#x4EFB;&#x52A1;&#x547D;&#x4EE4; UI &#x4FE1;&#x606F;</h2>
<p>&#x4E24;&#x4E2A;&#x7C7B;&#x5B9A;&#x4E49;&#x4E0E;&#x547D;&#x4EE4;&#x76F8;&#x5173;&#x8054;&#x7684;&#x5143;&#x6570;&#x636E;&#xFF1A;</p>
<ul>
<li>MissionCommandUIInfo&#xFF0D;&#x6574;&#x4E2A;&#x547D;&#x4EE4;&#x7684;&#x5143;&#x6570;&#x636E;</li>
<li>MissionCmdParamInfo&#xFF0D;&#x547D;&#x4EE4;&#x4E2D;&#x53C2;&#x6570;&#x7684;&#x5143;&#x6570;&#x636E;</li>
</ul>
<p>&#x6E90;&#x4E2D;&#x6CE8;&#x91CA;&#x4E86;&#x652F;&#x6301; json &#x952E;&#x7684;&#x5B8C;&#x6574;&#x8BE6;&#x7EC6;&#x4FE1;&#x606F;&#x3002;</p>
<p><a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MissionCommandUIInfo.h#L82" target="_blank">MissionCommandUIInfo</a>&#xFF1A;</p>
<pre><code>/// &#x4E0E;&#x4EFB;&#x52A1;&#x547D;&#x4EE4;&#x5173;&#x8054;&#x7684; UI &#x4FE1;&#x606F; &#xFF08;MAV_CMD&#xFF09;
///
///MissionCommandUIInfo&#x7528;&#x4E8E;&#x81EA;&#x52A8;&#x4E3A;MAV_CMD&#x751F;&#x6210;&#x7F16;&#x8F91;ui&#x3002; &#x6B64;&#x5BF9;&#x8C61;&#x8FD8;&#x652F;&#x6301;&#x4EC5;&#x5177;&#x6709;&#x4E00;&#x7EC4;&#x547D;
/// &#x4EE4;&#x7684;&#x90E8;&#x5206;&#x4FE1;&#x606F;&#x7684;&#x6982;&#x5FF5;&#x3002; &#x8FD9;&#x7528;&#x4E8E;&#x521B;&#x5EFA;&#x57FA;&#x672C;&#x547D;&#x4EE4;&#x4FE1;&#x606F;&#x7684;&#x66FF;&#x4EE3;&#x3002; &#x5BF9;&#x4E8E;&#x8986;&#x76D6;&#xFF0C;&#x53EA;&#x9700;&#x4ECE;&#x57FA;&#x672C;&#x547D;
/// &#x4EE4; ui &#x4FE1;&#x606F;&#x4E2D;&#x6307;&#x5B9A;&#x8981;&#x4FEE;&#x6539;&#x7684;&#x952E;&#x5373;&#x53EF;&#x3002; &#x82E5;&#x8981;&#x91CD;&#x5199; ui &#x53C2;&#x6570;&#x4FE1;&#x606F;&#xFF0C;&#x5FC5;&#x987B;&#x6307;&#x5B9A;&#x6574;&#x4E2A;MissionParamInfo&#x5BF9;&#x8C61;&#x3002;
///
/// MissionCommandUIInfo&#x5BF9;&#x8C61;&#x7684;json&#x683C;&#x5F0F;&#x4E3A;&#xFF1A;
///
/// &#x952E;&#x503C;                   &#x3000;&#x7C7B;&#x578B;    &#x9ED8;&#x8BA4;&#x503C;     &#x63CF;&#x8FF0;
/// id                      int     reauired    MAV_CMD id
/// comment                 string              &#x7528;&#x4E8E;&#x6DFB;&#x52A0;&#x8BC4;&#x8BBA;
/// rawName                 string  required    MAV_CMD &#x679A;&#x4E3E;&#x540D;&#x79F0;&#xFF0C;&#x4EC5;&#x5E94;&#x8BBE;&#x7F6E;&#x57FA;&#x7840;&#x6811;&#x4FE1;&#x606F;
/// friendlyName            string  rawName     &#x547D;&#x4EE4;&#x7684;&#x7B80;&#x5355;&#x63CF;&#x8FF0;
/// description             string              &#x547D;&#x4EE4;&#x7684;&#x8BE6;&#x7EC6;&#x63CF;&#x8FF0;
/// specifiesCoordinate     bool    false       true: &#x547D;&#x4EE4;&#x6307;&#x5B9A;&#x4E00;&#x4E2A;&#x7EAC;&#xFF0F;&#x7ECF;&#xFF0F;&#x9AD8;&#x5750;&#x6807;
/// specifiesAltitudeOnly   bool    false       true: &#x547D;&#x4EE4;&#x4EC5;&#x6307;&#x5B9A;&#x9AD8;&#x5EA6;&#xFF08;&#x975E;&#x5750;&#x6807;&#xFF09;
/// standaloneCoordinate    bool    false       true: &#x8F66;&#x8F86;&#x65E0;&#x6CD5;&#x901A;&#x8FC7;&#x4E0E;&#x547D;&#x4EE4;&#x5173;&#x8054;&#x7684;&#x5750;&#x6807;&#xFF08;&#x4F8B;&#x5982;&#xFF1A;ROI&#xFF09;
/// isLandCommand           bool    false       true: &#x547D;&#x4EE4;&#x6307;&#x5B9A;&#x7740;&#x9646;&#x6307;&#x4EE4; (LAND, VTOL_LAND, ...)
/// friendlyEdit            bool    false       true: &#x547D;&#x4EE4;&#x652F;&#x6301;&#x53CB;&#x597D;&#x7684;&#x7F16;&#x8F91;&#x5BF9;&#x8BDD;&#x6846;&#xFF0C;false&#xFF1A;Command&#x4EC5;&#x652F;&#x6301;&#x201C;&#x663E;&#x793A;&#x6240;&#x6709;&#x503C;&#x201D;&#x6837;&#x5F0F;&#x7684;&#x7F16;&#x8F91;
/// category                string  Advanced    &#x8BE5;&#x547D;&#x4EE4;&#x6240;&#x5C5E;&#x7684;&#x7C7B;&#x522B;
/// paramRemove             string              &#x7531;&#x66FF;&#x4EE3;&#x4F7F;&#x7528;&#x4EE5;&#x5220;&#x9664;&#x53C2;&#x6570;&#xFF0C;&#x4F8B;&#x5982;&#xFF1A;&#x201C; 1,3&#x201D;&#x5C06;&#x5220;&#x9664;&#x66FF;&#x4EE3;&#x4E0A;&#x7684;&#x53C2;&#x6570;1&#x548C;3
/// param[1-7]              object              MissionCommandParamInfo &#x5BF9;&#x8C61;
///
</code></pre><p><a href="https://github.com/mavlink/qgroundcontrol/blob/master/src/MissionManager/MissionCommandUIInfo.h#L25" target="_blank">MissionCmdParamInfo</a>&#xFF1A;</p>
<pre><code>/// &#x4E0E;&#x4EFB;&#x52A1;&#x547D;&#x4EE4; &#xFF08;MAV_CMD&#xFF09; &#x53C2;&#x6570;&#x5173;&#x8054;&#x7684; UI &#x4FE1;&#x606F;
///
/// MissionCommandParamInfo &#x7528;&#x4E8E;&#x81EA;&#x52A8;&#x4E3A;&#x4E0E; MAV_CMD &#x5173;&#x8054;&#x7684;&#x53C2;&#x6570;&#x751F;&#x6210;&#x7F16;&#x8F91;ui&#x3002;
///
/// MissionCmdParamInfo &#x5BF9;&#x8C61;&#x7684; Json &#x6587;&#x4EF6;&#x683C;&#x5F0F;&#x4E3A;&#xFF1A;
///&#x3000;
/// &#x952E;&#x503C;             &#x7C7B;&#x578B;    &#x9ED8;&#x8BA4;&#x503C;     &#x63CF;&#x8FF0;
/// label           string  required    &#x6587;&#x672C;&#x5B57;&#x6BB5;&#x6807;&#x7B7E;
/// units           string              &#x503C;&#x7684;&#x5355;&#x4F4D;&#xFF0C;&#x5E94;&#x4F7F;&#x7528; FactMetaData Units &#x5B57;&#x7B26;&#x4E32;&#x4EE5;&#x83B7;&#x5F97;&#x81EA;&#x52A8;&#x8F6C;&#x6362;
/// default         double  0.0/NaN     &#x9ED8;&#x8BA4;&#x53C2;&#x6570;&#x503C;&#x3002; &#x5982;&#x679C;&#x672A;&#x6307;&#x5B9A;&#x9ED8;&#x8BA4;&#x503C;&#x4E14; nanunchange==true&#xFF0C;&#x9ED8;&#x8BA4;&#x503C;&#x4E3A;NaN&#x3002;
/// decimalPlaces   int     7           &#x663E;&#x793A;&#x503C;&#x5F97;&#x5C0F;&#x6570;&#x4F4D;&#x6570;
/// enumStrings     string              &#x8981;&#x5728;&#x7EC4;&#x5408;&#x6846;&#x4E2D;&#x663E;&#x793A;&#x4EE5;&#x4F9B;&#x9009;&#x62E9;&#x7684;&#x5B57;&#x7B26;&#x4E32;
/// enumValues      string              &#x4E0E;&#x6BCF;&#x4E2A;&#x679A;&#x4E3E;&#x5B57;&#x7B26;&#x4E32;&#x5173;&#x8054;&#x7684;&#x503C;
/// nanUnchanged    bool    false       True: &#x503C;&#x53EF;&#x4EE5;&#x8BBE;&#x7F6E;&#x4E3A;NaN&#x8868;&#x793A;&#x4FE1;&#x53F7;&#x4E0D;&#x53D8;
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